all_pid/test/main.c

/*
 * @Author: Dyyt587 67887002+Dyyt587@users.noreply.github.com
 * @Date: 2024-02-28 08:04:51
 * @LastEditors: Dyyt587 67887002+Dyyt587@users.noreply.github.com
 * @LastEditTime: 2024-05-15 16:31:48
 * @FilePath: \all_pid\example\main.c
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#include <stdio.h>
#include "apid.h"

int main(void)
{
    printf("Hello all pid\r\n");
    apid_t pid;
    APID_Init(&pid, PID_POSITION, 3, 0.1, 0);
    APID_Enable(&pid); // 默认已经开启

    APID_Set_Target(&pid, 50);

    for (int i = 0; i < 16; ++i)
    {
        APID_Set_Present(&pid, 32);//用户定时更新当前值数据

        APID_Hander(&pid, 1);//cycle 如果不使用，建议设置为1,使用请输入两次调用的间隔单位ms
        printf("pid out %f\r\n", APID_Get_Out(&pid));
    }

    APID_Fuzzy_Fast_Init(&pid, &(APID_Fuzzy_Init_t){
        .maximum = 100,
        .minimum = -100,

        .maxdKp = 0.1,
        .mindKp = -0.1,
        .qKp = 0.1,

        .maxdKi = 0.1,
        .mindKi = -0.1,
        .qKi = 0.1,

        .maxdKd = 0.1,
       .mindKd = -0.1,
        .qKd = 0.1});

    APID_Set_Target(&pid, 50);

    for (int i = 0; i < 16; ++i)
    {
        APID_Set_Present(&pid, 32);//用户定时更新当前值数据

        APID_Hander(&pid, 1);//cycle 如果不使用，建议设置为1,使用请输入两次调用的间隔单位ms
        printf("pid out1 %f\r\n", APID_Get_Out(&pid));
    }



    static apid_auto_tune_ZNmode_t tuner;
    apid_auto_tune_ZNmode_init(&pid,&tuner,ZNModeLessOvershoot,300,-20000,20000,20);
    for (int i = 0; i < 16; ++i)
    {
        APID_Set_Present(&pid, 32);//用户定时更新当前值数据

        APID_Hander(&pid, 1);//cycle 如果不使用，建议设置为1,使用请输入两次调用的间隔单位ms
        printf("pid out1 %f\r\n", APID_Get_Out(&pid));
    }
    return 0;
}